\hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel}{}\doxysection{calico\+::sensors\+::Accelerometer\+Scale\+Only\+Model Class Reference}
\label{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel}\index{calico::sensors::AccelerometerScaleOnlyModel@{calico::sensors::AccelerometerScaleOnlyModel}}


{\ttfamily \#include $<$accelerometer\+\_\+models.\+h$>$}



Inheritance diagram for calico\+::sensors\+::Accelerometer\+Scale\+Only\+Model\+:
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Collaboration diagram for calico\+::sensors\+::Accelerometer\+Scale\+Only\+Model\+:
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\doxysubsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_a394d35367e1f1b54df09b77ca3aeb9e5}\label{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_a394d35367e1f1b54df09b77ca3aeb9e5}} 
\mbox{\hyperlink{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel}{Accelerometer\+Scale\+Only\+Model}} \& {\bfseries operator=} (const \mbox{\hyperlink{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel}{Accelerometer\+Scale\+Only\+Model}} \&)=default
\item 
\mbox{\Hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_a14a78f78a740c65144ba132d63f11b9b}\label{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_a14a78f78a740c65144ba132d63f11b9b}} 
\mbox{\hyperlink{namespacecalico_1_1sensors_a911841171d662dc3e4bf4b39463a4c42}{Accelerometer\+Intrinsics\+Model}} \mbox{\hyperlink{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_a14a78f78a740c65144ba132d63f11b9b}{Get\+Type}} () const final
\begin{DoxyCompactList}\small\item\em Getter for accelerometer model type. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_acbef0ae858356b9d89cfcb5bafb30fe6}\label{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_acbef0ae858356b9d89cfcb5bafb30fe6}} 
int \mbox{\hyperlink{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_acbef0ae858356b9d89cfcb5bafb30fe6}{Number\+Of\+Parameters}} () const final
\begin{DoxyCompactList}\small\item\em Getter for the number of parameters for this model. \end{DoxyCompactList}\end{DoxyCompactItemize}
\doxysubsection*{Static Public Member Functions}
\begin{DoxyCompactItemize}
\item 
{\footnotesize template$<$typename T $>$ }\\static absl\+::\+Status\+Or$<$ Eigen\+::\+Vector3$<$ T $>$ $>$ \mbox{\hyperlink{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_a102f2dfa58abc538a375cfad207bd682}{Project}} (const Eigen\+::\+VectorX$<$ T $>$ \&intrinsics, const Eigen\+::\+Vector3$<$ T $>$ \&p\+\_\+sensor\+\_\+world\+\_\+sensor)
\item 
{\footnotesize template$<$typename T $>$ }\\static absl\+::\+Status\+Or$<$ Eigen\+::\+Vector3$<$ T $>$ $>$ \mbox{\hyperlink{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_aa5f0f519c3495e68467a1344ad70885e}{Unproject}} (const Eigen\+::\+VectorX$<$ T $>$ \&intrinsics, const Eigen\+::\+Vector3$<$ T $>$ \&measurement)
\end{DoxyCompactItemize}
\doxysubsection*{Static Public Attributes}
\begin{DoxyCompactItemize}
\item 
\mbox{\Hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_a8bcd95bc1ecbf6ee060780a56fc9dffc}\label{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_a8bcd95bc1ecbf6ee060780a56fc9dffc}} 
static constexpr int {\bfseries k\+Number\+Of\+Parameters} = 1
\item 
static constexpr \mbox{\hyperlink{namespacecalico_1_1sensors_a911841171d662dc3e4bf4b39463a4c42}{Accelerometer\+Intrinsics\+Model}} {\bfseries k\+Model\+Type}
\end{DoxyCompactItemize}


\doxysubsection{Detailed Description}
1-\/parameter isotropic scale intrinsics model. $[s]$ 

\doxysubsection{Member Function Documentation}
\mbox{\Hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_a102f2dfa58abc538a375cfad207bd682}\label{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_a102f2dfa58abc538a375cfad207bd682}} 
\index{calico::sensors::AccelerometerScaleOnlyModel@{calico::sensors::AccelerometerScaleOnlyModel}!Project@{Project}}
\index{Project@{Project}!calico::sensors::AccelerometerScaleOnlyModel@{calico::sensors::AccelerometerScaleOnlyModel}}
\doxysubsubsection{\texorpdfstring{Project()}{Project()}}
{\footnotesize\ttfamily template$<$typename T $>$ \\
static absl\+::\+Status\+Or$<$Eigen\+::\+Vector3$<$T$>$ $>$ calico\+::sensors\+::\+Accelerometer\+Scale\+Only\+Model\+::\+Project (\begin{DoxyParamCaption}\item[{const Eigen\+::\+VectorX$<$ T $>$ \&}]{intrinsics,  }\item[{const Eigen\+::\+Vector3$<$ T $>$ \&}]{p\+\_\+sensor\+\_\+world\+\_\+sensor }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}

Returns measurement $\mathbf{f}$, a 3-\/D vector such that \[ \mathbf{f} = s\mathbf{p}^s_{ws} \] \mbox{\Hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_aa5f0f519c3495e68467a1344ad70885e}\label{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_aa5f0f519c3495e68467a1344ad70885e}} 
\index{calico::sensors::AccelerometerScaleOnlyModel@{calico::sensors::AccelerometerScaleOnlyModel}!Unproject@{Unproject}}
\index{Unproject@{Unproject}!calico::sensors::AccelerometerScaleOnlyModel@{calico::sensors::AccelerometerScaleOnlyModel}}
\doxysubsubsection{\texorpdfstring{Unproject()}{Unproject()}}
{\footnotesize\ttfamily template$<$typename T $>$ \\
static absl\+::\+Status\+Or$<$Eigen\+::\+Vector3$<$T$>$ $>$ calico\+::sensors\+::\+Accelerometer\+Scale\+Only\+Model\+::\+Unproject (\begin{DoxyParamCaption}\item[{const Eigen\+::\+VectorX$<$ T $>$ \&}]{intrinsics,  }\item[{const Eigen\+::\+Vector3$<$ T $>$ \&}]{measurement }\end{DoxyParamCaption})\hspace{0.3cm}{\ttfamily [inline]}, {\ttfamily [static]}}

Inverts the measurement model to obtain specific force as observed by the sensor. \[ \mathbf{p}^s_{ws} = \frac{1}{s}\mathbf{f} \] 

\doxysubsection{Member Data Documentation}
\mbox{\Hypertarget{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_a6414f6ed7244ae995ee6c8d2714727cd}\label{classcalico_1_1sensors_1_1AccelerometerScaleOnlyModel_a6414f6ed7244ae995ee6c8d2714727cd}} 
\index{calico::sensors::AccelerometerScaleOnlyModel@{calico::sensors::AccelerometerScaleOnlyModel}!kModelType@{kModelType}}
\index{kModelType@{kModelType}!calico::sensors::AccelerometerScaleOnlyModel@{calico::sensors::AccelerometerScaleOnlyModel}}
\doxysubsubsection{\texorpdfstring{kModelType}{kModelType}}
{\footnotesize\ttfamily constexpr \mbox{\hyperlink{namespacecalico_1_1sensors_a911841171d662dc3e4bf4b39463a4c42}{Accelerometer\+Intrinsics\+Model}} calico\+::sensors\+::\+Accelerometer\+Scale\+Only\+Model\+::k\+Model\+Type\hspace{0.3cm}{\ttfamily [static]}, {\ttfamily [constexpr]}}

{\bfseries Initial value\+:}
\begin{DoxyCode}{0}
\DoxyCodeLine{=}
\DoxyCodeLine{      \mbox{\hyperlink{namespacecalico_1_1sensors_a911841171d662dc3e4bf4b39463a4c42a21041b4c17c9d356c0905ff0ba6544de}{AccelerometerIntrinsicsModel::kAccelerometerScaleOnly}}}

\end{DoxyCode}


The documentation for this class was generated from the following file\+:\begin{DoxyCompactItemize}
\item 
calico/sensors/accelerometer\+\_\+models.\+h\end{DoxyCompactItemize}
